应用数学和力学2025，Vol.46Issue(9)：1158-1175,18.DOI:10.21656/1000-0887.450182
柔性腿组合无缘轮被动行走步态及不同步分析
Analysis of Passive Walking Gait and Non-Synchronization of Combined Flexible Legged Rimless Wheels
摘要
Abstract
A combined flexible-legged rimless wheels model with variable phase difference was introduced for the analysis of passive walking gait by adjusting the initial value of the system.The model's motions under vari-ous phase differences were simulated,and the effects of phase differences on the walking gait were investiga-ted.Firstly,the 2nd-type Lagrangian method was used to establish a dynamic model for combined flexible leg-ged rimless wheels with variable phase differences,and the initial value was adjusted to gradually form the con-vergent closed-loop limit cycle for the model motion gait under various phase differences.Secondly,the typical model gaits were simulated and comparatively analyzed to expose the close relationship between the model walking gait and the initial phase difference,which were verified through numerical experiments.The results show that,the variation of the phase differences between the rimless wheel support legs before and after the in-itial moments change the model periodical motion gait on the inclined plane.With a phase difference close to the half hip angle,the model average moving speed along the inclined plane will decrease,while the bump mo-tion perpendicular to the inclined plane will be relatively small,and the maximum reverse support force in the normal direction of the inclined plane will also be relatively small.关键词
柔性腿组合无缘轮/被动步行/相位差调速/不同步/极限环Key words
combined flexible legged rimless wheels/passive walking/phase difference speed regulation/non-synchronization/limit cycle分类
数理科学引用本文复制引用
王龙宇,张奇志,李珊珊..柔性腿组合无缘轮被动行走步态及不同步分析[J].应用数学和力学,2025,46(9):1158-1175,18.基金项目
国家自然科学基金(12172059) （12172059）
